{"id":"https://openalex.org/W2567433707","doi":"https://doi.org/10.1109/ssrr.2016.7784296","title":"Mechanical stability margin for scouting poses in modular snake robots","display_name":"Mechanical stability margin for scouting poses in modular snake robots","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567433707","doi":"https://doi.org/10.1109/ssrr.2016.7784296","mag":"2567433707"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2016.7784296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/134439","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101441067","display_name":"Diego Roa","orcid":"https://orcid.org/0000-0002-6349-4381"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Diego Roa","raw_affiliation_strings":["EPFL, Biorobotics Laboratory, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL, Biorobotics Laboratory, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024362402","display_name":"Kamilo Melo","orcid":"https://orcid.org/0000-0003-1869-412X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kamilo Melo","raw_affiliation_strings":["EPFL, Biorobotics Laboratory, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL, Biorobotics Laboratory, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101441067"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14752532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"182","last_page":"188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.786292552947998},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5885744094848633},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5408037900924683},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5010499954223633},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4778675436973572},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4694993495941162},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43962258100509644},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.43704715371131897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4338390529155731},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42392492294311523},{"id":"https://openalex.org/keywords/longitudinal-static-stability","display_name":"Longitudinal static stability","score":0.4132119119167328},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3657386898994446},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3240129053592682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2634228467941284}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.786292552947998},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5885744094848633},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5408037900924683},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5010499954223633},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4778675436973572},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4694993495941162},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43962258100509644},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.43704715371131897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4338390529155731},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42392492294311523},{"id":"https://openalex.org/C102500504","wikidata":"https://www.wikidata.org/wiki/Q6674017","display_name":"Longitudinal static stability","level":3,"score":0.4132119119167328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3657386898994446},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3240129053592682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2634228467941284},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ssrr.2016.7784296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.tind.io:225746","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/134439","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:225746","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/134439","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1973093950","https://openalex.org/W2021773072","https://openalex.org/W2029196382","https://openalex.org/W2033910955","https://openalex.org/W2036306104","https://openalex.org/W2037297443","https://openalex.org/W2067477688","https://openalex.org/W2087247279","https://openalex.org/W2103427741","https://openalex.org/W2129995200","https://openalex.org/W2151761201","https://openalex.org/W2165739402","https://openalex.org/W2326971552","https://openalex.org/W6675938220","https://openalex.org/W6682417021"],"related_works":["https://openalex.org/W2357479049","https://openalex.org/W621954453","https://openalex.org/W2180954594","https://openalex.org/W2052835778","https://openalex.org/W4244594306","https://openalex.org/W2049003611","https://openalex.org/W2380336409","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,85,133],"algorithm":[4,143],"to":[5,41,131,168,173],"calculate":[6],"mechanical":[7,176],"stability":[8,177,209],"margins":[9],"of":[10,31,35,45,47,60,65,89,101,109,129,147,161,170,183,190,200,223],"a":[11,90,97,145,175,198,205],"Modular":[12],"Snake":[13],"Robot":[14],"(MSR)":[15],"during":[16],"scouting":[17],"poses.":[18],"Scouting":[19],"poses":[20],"are":[21,38,71],"defined":[22,102],"as":[23,113,140,215],"robot":[24,37,58,76,195,213],"configurations":[25],"in":[26,53,84,207],"which":[27],"one":[28,169],"or":[29],"two":[30],"the":[32,36,43,66,75,107,110,121,127,142,148,158,162,184,193,208,212,221,224],"end":[33],"modules":[34],"raised":[39],"up":[40],"increase":[42],"range":[44],"perception":[46],"sensors":[48],"that":[49,87],"might":[50],"be":[51],"placed":[52,83],"its":[54,171],"distal":[55],"parts.":[56],"The":[57,179],"center":[59],"mass":[61],"(CoM)":[62],"and":[63,104,154,181,192],"each":[64],"module's":[67],"contact":[68,118],"pad":[69],"positions":[70],"calculated":[72],"by":[73,125,188,204],"computing":[74],"kinematics.":[77],"Then,":[78],"this":[79,138,166],"kinematic":[80],"model":[81],"is":[82,186],"environment":[86],"consist":[88],"height":[91],"map":[92],"(the":[93],"terrain),":[94],"built":[95],"on":[96],"2D":[98],"grid":[99],"base":[100],"size":[103],"resolution.":[105],"Due":[106],"hyper-stability":[108],"MSR":[111],"structure,":[112],"it":[114,156,216],"features":[115],"many":[116],"static":[117],"points":[119],"with":[120],"terrain,":[122],"we":[123],"approximate":[124],"weighting":[126],"distribution":[128],"forces":[130],"ensure":[132],"iso-static":[134],"simplified":[135],"problem.":[136],"Using":[137],"information":[139],"input,":[141],"calculates":[144],"representation":[146],"supporting":[149],"surface":[150,167],"(not":[151],"necessarily":[152],"horizontal),":[153],"then,":[155],"computes":[157],"minimum":[159],"distance":[160],"CoM":[163],"projection":[164],"into":[165],"edges":[172],"define":[174],"margin.":[178],"effectiveness":[180],"robustness":[182],"method":[185],"demonstrated":[187],"comparisons":[189],"simulation":[191],"real":[194],"results.":[196],"Moreover,":[197],"sequence":[199],"quasi-static":[201],"motions":[202],"bounded":[203],"threshold":[206],"margin,":[210],"keeps":[211],"stable":[214],"rises.":[217],"Thus,":[218],"demonstrating":[219],"qualitatively":[220],"convenience":[222],"method.":[225]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}